Access point database

ABSTRACT

A location beacon database and server, method of building location beacon database, and location based service using same. Wi-Fi access points are located in a target geographical area to build a reference database of locations of Wi-Fi access points. At least one vehicle is deployed including at least one scanning device having a GPS device and a Wi-Fi radio device and including a Wi-Fi antenna system. The target area is traversed in a programmatic route to avoid arterial bias. The programmatic route includes substantially all drivable streets in the target geographical area and solves an Eulerian cycle problem of a graph represented by said drivable streets. While traversing the target area, periodically receive the GPS coordinates of the GPS device. While traversing the target area, detecting Wi-Fi signals from Wi-Fi access points in range of the Wi-Fi device and recording identity information of the detected Wi-Fi access point in conjunction with GPS location information of the vehicle when the detection of the Wi-Fi access point was made. The location information is used to reverse triangulate the position of the detected Wi-Fi access point; and the position of the detected access point is recorded in a reference database.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.11/950,242, filed Dec. 4, 2007, issuing as U.S. Pat. No. 7,818,017;which is a continuation of U.S. patent application Ser. No. 11/261,988,filed Oct. 28, 2005; which claims the benefit of the priority of U.S.Prov. App. 60/623,108, filed Oct. 29, 2004; all of which areincorporated by reference herein in their entirety for all purposes.

This application is related to the following U.S. Patent Applications:

-   U.S. patent application Ser. No. 11/261,848, filed Oct. 28, 2005,    entitled Location Beacon Database;-   U.S. patent application Ser. No. 11/261,898, filed Oct. 28, 2005,    entitled Server for Updating Location Beacon Database;-   U.S. patent application Ser. No. 11/261,987, filed Oct. 28, 2005,    entitled Method and System for Building a Location Beacon Database;    and

BACKGROUND

1. Field of the Invention

The invention generally related to location-base services and, morespecifically, to methods and systems of determining locations of Wi-Fiaccess points and using such information to locate a Wi-Fi-enableddevice.

2. Discussion of Related Art

In recent years the number of mobile computing devices has increaseddramatically creating the need for more advanced mobile and wirelessservices. Mobile email, walkie-talkie services, multi-player gaming andcall following are examples of how new applications are emerging onmobile devices. In addition, users are beginning to demand/seekapplications that not only utilize their current location but also sharethat location information with others. Parents wish to keep track oftheir children, supervisors need to track the location of the company'sdelivery vehicles, and a business traveler looks to find the nearestpharmacy to pick up a prescription. All of these examples require theindividual to know their own current location or that of someone else.To date, we all rely on asking for directions, calling someone to asktheir whereabouts or having workers check-in from time to time withtheir position.

Location-based services are an emerging area of mobile applications thatleverages the ability of new devices to calculate their currentgeographic position and report that to a user or to a service. Someexamples of these services include local weather, traffic updates,driving directions, child trackers, buddy finders and urban conciergeservices. These new location sensitive devices rely on a variety oftechnologies that all use the same general concept. Using radio signalscoming from known reference points, these devices can mathematicallycalculate the user's position relative to these reference points. Eachof these approaches has its strengths and weaknesses based on the radiotechnology and the positioning algorithms they employ.

The Global Positioning System (GPS) operated by the US Governmentleverages dozens of orbiting satellites as reference points. Thesesatellites broadcast radio signals that are picked up by GPS receivers.The receivers measure the time it took for that signal to reach to thereceiver. After receiving signals from three or more GPS satellites thereceiver can triangulate its position on the globe. For the system towork effectively, the radio signals must reach the received with littleor no interference. Weather, buildings or structures and foliage cancause interference because the receivers require a clear line-of-sightto three or more satellites. Interference can also be caused by aphenomenon known as multi-path. The radio signals from the satellitesbounce off physical structures causing multiple signals from the samesatellite to reach a receiver at different times. Since the receiver'scalculation is based on the time the signal took to reach the receiver,multi-path signals confuse the receiver and cause substantial errors.

Cell tower triangulation is another method used by wireless and cellularcarriers to determine a user or device's location. The wireless networkand the handheld device communicate with each other to share signalinformation that the network can use to calculate the location of thedevice. This approach was originally seen as a superior model to GPSsince these signals do not require direct line of site and can penetratebuildings better. Unfortunately these approaches have proven to besuboptimal due to the heterogeneous nature of the cellular towerhardware along with the issues of multi-path signals and the lack ofuniformity in the positioning of cellular towers.

Assisted GPS is a newer model that combines both GPS and cellular towertechniques to produce a more accurate and reliable location calculationfor mobile users. In this model, the wireless network attempts to helpGPS improve its signal reception by transmitting information about theclock offsets of the GPS satellites and the general location of the userbased on the location of the connected cell tower. These techniques canhelp GPS receivers deal with weaker signals that one experiences indoorsand helps the receiver obtain a ‘fix’ on the closest satellites quickerproviding a faster “first reading”. These systems have been plagued byslow response times and poor accuracy—greater than 100 meters indowntown areas.

There have been some more recent alternative models developed to try andaddress the known issues with GPS, A-GPS and cell tower positioning. Oneof them, known as TV-GPS, utilizes signals from television broadcasttowers. (See, e.g., Muthukrishnan, Maria Lijding, Paul Havinga, TowardsSmart Surroundings: Enabling Techniques and Technologies forLocalization, Lecture Notes in Computer Science, Volume 3479, Jan2Hazas, M., Scott, J., Krumm, J.: Location-Aware Computing Comes of Age.IEEE Computer, 37(2):95-97, February 2004 005, Pa005, Pages 350-362.)The concept relies on the fact that most metropolitan areas have 3 ormore TV broadcast towers. A proprietary hardware chip receives TVsignals from these various towers and uses the known positions of thesetowers as reference points. The challenges facing this model are thecost of the new hardware receiver and the limitations of using such asmall set of reference points. For example, if a user is outside theperimeter of towers, the system has a difficult time providingreasonable accuracy. The classic example is a user along the shoreline.Since there are no TV towers out in the ocean, there is no way toprovide reference symmetry among the reference points resulting in acalculated positioning well inland of the user.

Microsoft Corporation and Intel Corporation (via a research group knownas PlaceLab) have deployed a Wi-Fi Location system using the accesspoint locations acquired from amateur scanners (known as “wardrivers”)who submit their Wi-Fi scan data to public community web sites. (See,e.g., LaMarca, A., et. al., Place Lab: Device Positioning Using RadioBeacons in the Wild.) Examples include WiGLE, Wi-FiMaps.com,Netstumbler.com and NodeDB. Both Microsoft and Intel have developedtheir own client software that utilizes this public wardriving data asreference locations. Because individuals voluntarily supply the data thesystems suffer a number of performance and reliability problems. First,the data across the databases are not contemporaneous; some of the datais new while other portions are 3-4 years old. The age of the accesspoint location is important since over time access points can be movedor taken offline. Second, the data is acquired using a variety ofhardware and software configurations. Every 802.11 radio and antenna hasdifferent signal reception characteristics affecting the representationof the strength of the signal. Each scanning software implementationscans for Wi-Fi signals in different ways during different timeintervals. Third, the user-supplied data suffers from arterial bias.Because the data is self-reported by individuals who are not followingdesigned scanning routes, the data tends to aggregate around heavilytraffic areas. Arterial bias causes a resulting location pull towardsmain arteries regardless of where the user is currently located causingsubstantial accuracy errors. Fourth, these databases include thecalculated position of scanned access points rather than the rawscanning data obtained by the 802.11 hardware. Each of these databasescalculates the access point location differently and each with arudimentary weighted average formula. The result is that many accesspoints are indicated as being located far from their actual locationsincluding some access points being incorrectly indicated as if they werelocated in bodies of water.

There have been a number of commercial offerings of Wi-Fi locationsystems targeted at indoor positioning. (See, e.g., KavithaMuthukrishnan, Maria Lijding, Paul Havinga, Towards Smart Surroundings:Enabling Techniques and Technologies for Localization, Lecture Notes inComputer Science, Volume 3479, Jan 2Hazas, M., Scott, J., Krumm, J.:Location-Aware Computing Comes of Age. IEEE Computer, 37(2):95-97,February 2004 005, Pa005, Pages 350-362.) These systems are designed toaddress asset and people tracking within a controlled environment like acorporate campus, a hospital facility or a shipping yard. The classicexample is having a system that can monitor the exact location of thecrash cart within the hospital so that when there is a cardiac arrestthe hospital staff doesn't waste time locating the device. The accuracyrequirements for these use cases are very demanding typically callingfor 1-3 meter accuracy. These systems use a variety of techniques tofine tune their accuracy including conducting detailed site surveys ofevery square foot of the campus to measure radio signal propagation.They also require a constant network connection so that the access pointand the client radio can exchange synchronization information similar tohow A-GPS works. While these systems are becoming more reliable forthese indoor use cases, they are ineffective in any wide-areadeployment. It is impossible to conduct the kind of detailed site surveyrequired across an entire city and there is no way to rely on a constantcommunication channel with 802.11 access points across an entiremetropolitan area to the extent required by these systems. Mostimportantly outdoor radio propagation is fundamentally different thanindoor radio propagation rendering these indoor positioning algorithmsalmost useless in a wide-area scenario.

There are numerous 802.11 location scanning clients available thatrecord the presence of 802.11 signals along with a GPS location reading.These software applications are operated manually and produce a log fileof the readings. Examples of these applications are Netstumber, Kismetand Wi-FiFoFum. Some hobbyists use these applications to mark thelocations of 802.11 access point signals they detect and share them witheach other. The management of this data and the sharing of theinformation is all done manually. These application do not perform anycalculation as to the physical location of the access point, they merelymark the location from which the access point was detected.

Performance and reliability of the underlying positioning system are thekey drivers to the successful deployment of any location based service.Performance refers to the accuracy levels that the system achieves forthat given use case. Reliability refers to the percentage of time thatthe desired performance levels are achieved.

Performance Reliability Local Search/Advertising <100 meters 85% of thetime E911 <150 meters 95% of the time Turn-by-turn driving 10-20 meters95% of the time directions Gaming <50 meters 90% of the time Friendfinders <500 meters 80% of the time Fleet management <10 meters 95% ofthe time Indoor asset tracking <3 meters 95% of the time

SUMMARY

The invention provides a location beacon database and server, method ofbuilding location beacon database, and location based service usingsame.

Under another aspect of the invention, a user-device having a Wi-Firadio may be located. A reference database of calculated locations ofWi-Fi access points in a target area is provided. In response to a userapplication request to determine a location of a user-device having aWi-Fi radio, the Wi-Fi device is triggered to transmit a request to allWi-Fi access points within range of the Wi-Fi device. Messages arereceived from the Wi-Fi access points within range of the Wi-Fi device,each message identifying the Wi-Fi access point sending the message. Thesignal strength of the messages received by the Wi-Fi access points iscalculated. The reference database is accessed to obtain the calculatedlocations for the identified Wi-Fi access points. Based on the number ofWi-Fi access points identified via received messages, choosing acorresponding location-determination algorithm from a plurality oflocation-determination algorithms, said chosen algorithm being suitedfor the number of identified Wi-Fi access points. The calculatedlocations for the identified Wi-Fi access points and the signalstrengths of said received messages and the chosenlocation-determination algorithm are used to determine the location ofthe user-device.

Under another aspect of the invention, the calculated locations for theidentified Wi-Fi access points are filtered to determine if thecorresponding Wi-Fi access points have moved since the time theinformation about the Wi-Fi access points was included in the referencedatabase.

Under another aspect of the invention, the plurality oflocation-determination algorithms includes a simple signal strengthweighted average model.

Under another aspect of the invention, the plurality oflocation-determination algorithms includes a nearest neighbor model.

Under another aspect of the invention, the plurality oflocation-determination algorithms includes a triangulation technique.

Under another aspect of the invention, the plurality oflocation-determination algorithms includes an adaptive smoothingtechnique based on the device velocity.

Under another aspect of the invention, the choice oflocation-determination algorithm is further based on the userapplication making the location request.

BRIEF DESCRIPTION OF DRAWINGS

In the drawing,

FIG. 1 depicts certain embodiments of a Wi-Fi positioning system;

FIG. 2 depicts scanning vehicles including scanning devices according tocertain embodiments of the invention;

FIG. 3 depicts an example of a scanning scenario to illustrate theproblem of arterial bias in data collection;

FIG. 4 depicts an example using a programmatic route for a scanningvehicle according to certain embodiments of the invention;

FIG. 5 depicts an example scenario to illustrate the problem of lack ofreference symmetry of Wi-Fi access points in locating a user device;

FIG. 6 depicts an example scenario to illustrate reference symmetry ofWi-Fi access points in locating a user device;

FIG. 7 depicts scanning vehicles including scanning devices according tocertain embodiments of the invention;

FIG. 8 depicts a central network server including a central database ofWi-Fi access points according to certain embodiments of the invention;

FIG. 9 depicts an exemplary architecture of positioning softwareaccording to certain embodiments of the invention;

FIG. 10 depicts an exemplary architecture of a scanning client accordingto certain embodiments of the invention; and

FIG. 11 compares and contrasts the effects of a random scanning modelwith one using a model from the Chinese postman routing algorithm.

DETAILED DESCRIPTION

Preferred embodiments of the present invention provide a system and amethodology for gathering reference location data to enable a commercialpositioning system using public and private 802.11 access points.Preferably, the data is gathered in a programmatic way to fully exploreand cover the streets of a target region. The programmatic approachidentifies as many Wi-Fi access points as possible. By gatheringlocation information about more access points, preferred embodiments notonly provide a larger collection of location information about accesspoints, but the location information for each access point may becalculated with more precision. Subsequently this larger set of moreprecise data may be used by location services to more precisely locate auser device utilizing preferred embodiments of the invention. Certainembodiments use techniques to avoid erroneous data in determining theWi-Fi positions and use newly-discovered position information to improvethe quality of previously gathered and determined position information.Certain embodiments use location-determination algorithms based on thecontext of the user device at the time the user requests a location. Forexample, the location-determination algorithm will be based on thenumber of Wi-Fi access points identified or detected when a locationrequest is made, or based on the application making the request.

FIG. 1 depicts a portion of a preferred embodiment of a Wi-Fipositioning system (WPS). The positioning system includes positioningsoftware [103] that resides on a computing device [101]. Throughout aparticular coverage area there are fixed wireless access points [102]that broadcast information using control/common channel broadcastsignals. The client device monitors the broadcast signal or requests itstransmission via a probe request. Each access point contains a uniquehardware identifier known as a MAC address. The client positioningsoftware receives signal beacons from the 802.11 access points in rangeand calculates the geographic location of the computing device usingcharacteristics from the signal beacons. Those characteristics includethe unique identifier of the 802.11 access point, known as the MACaddress, and the strengths of the signal reaching the client device. Theclient software compares the observed 802.11 access points with those inits reference database [104] of access points, which may or may notreside on the device as well. The reference database contains thecalculated geographic locations or power profile of all the accesspoints the gathering system has collected. The power profile is acollection of readings that represent the power of the signal fromvarious locations. Using these known locations, the client softwarecalculates the relative position of the user device [101] and determinesits geographic coordinates in the form of latitude and longitudereadings. Those readings are then fed to location-based applicationssuch as friend finders, local search web sites, fleet management systemsand E911 services.

The positioning software is described in greater detail with referenceto FIG. 9, which depict exemplary components of positioning software103. Typically there is an application or service [901] that utilizeslocation readings to provide some value to an end user (example, drivingdirections). This location application makes a request of thepositioning software for the location of the device at that particularmoment. That request initiates the scanner [902], which makes a “scanrequest” to the 802.11 radio [903] on the device. The 802.11 radio sendsout a probe request to all 802.11 access points [904] within range.According to the 802.11 protocol, those access points in receipt of aprobe request will transmit a broadcast beacon containing informationabout the access point. That beacon includes the MAC address of thedevice, the network name, the precise version of the protocol that itsupports and its security configuration along with information about howto connect to the device. The 802.11 radio collects this informationfrom each access point that responds, calculates the signal strength ofeach access point and sends that back to the scanner.

The scanner passes this array of access points to the Locator [906]which checks the MAC addresses of each observed access point against theAccess Point Reference Database [905]. This database can either belocated on the device or remotely over a network connection. The AccessPoint Reference Database returns the location data for each of theobserved access points that are known to the system. The Locator passesthis collection of location information along with the signalcharacteristics returned from each access point to the Bad Data Filter[907]. This filter applies a number of comparison tests against eachaccess point to determine if any of the access points have moved sincethey were added to the access point database. After removing bad datarecords, the Filter sends the remaining access points to the LocationCalculation component [908]. Using the reference data from the accesspoint database and the signal strength readings from the Scanner, theLocation Calculation component computes the location of the device atthat moment. Before that location data is sent back to the Locator, itis processed by the Smoothing engine [909] which averages a past seriesof location readings to remove any erratic readings from the previouscalculation. The adjusted location data is then sent back to theLocator.

The calculated location readings produced by the Locator arecommunicated to these location-based applications [901] through theApplication Interface [910] which includes an application programminginterface (API) or via a virtual GPS capability [911]. GPS receiverscommunicate their location readings using proprietary messages or usingthe location standard like the one developed by the National MarineElectronics Association (NMEA). Connecting into the device using astandard interface such as a COM port on the machine retrieves themessages. Certain embodiments of the invention include a virtual GPScapability that allows any GPS compatible application to communicatewith this new positioning system without have to alter the communicationmodel or messages.

The location calculations are produced using a series of positioningalgorithms intended to turn noisy data flows into reliable and steadylocation readings. The client software compares the list of observedaccess points along with their calculated signal strengths to weight thelocation of user to determine precise location of the device user. Avariety of techniques are employed including simple signal strengthweighted average models, nearest neighbor models combined withtriangulation techniques and adaptive smoothing based on devicevelocity. Different algorithms perform better under different scenariosand tend to be used together in hybrid deployments to product the mostaccurate final readings. Preferred embodiments of the invention can usea number of positioning algorithms. The decision of which algorithm touse is driven by the number of access points observed and the user caseapplication using it. The filtering models differ from traditionalpositioning systems since traditional systems rely on known referencepoints that never move. In the model of preferred embodiments, thisassumption of fixed locations of access points is not made; the accesspoints are not owned by the positioning system so they may move or betaken offline. The filtering techniques assume that some access pointsmay no longer be located in the same place and could cause a badlocation calculation. So the filtering algorithms attempt to isolate theaccess points that have moved since their position was recorded. Thefilters are dynamic and change based on the number of access pointsobserved at that moment. The smoothing algorithms include simpleposition averaging as well as advanced bayesian logic including Kalmanfilters. The velocity algorithms calculate device speed by estimatingthe Doppler effect from the signal strength observations of each accesspoint.

Gathering of Scan Data to Build Reference Database

FIG. 2 depicts the components used to gather location information forthe various access points. A large fleet of vehicles [201] is deployedto build the reference database (104 of FIG. 1) for the positioningsystem. These vehicles 201 follow a programmatic route through targetscan areas to gather data in the most optimal fashion producing thehighest quality data. The target scan areas typically represent a largemetropolitan area including every single drivable street in 15-20 mileradius. These vehicles are equipped with scanning devices [202] designedto record the locations and characteristics of 802.11 signals whiletraversing the coverage area. The scanning devices track the location ofthe scanning vehicle every second using signal from GPS satellites[204]. The scanning device also tracks the presence of any 802.11 accesspoint within range and records the radio characteristics of that accesspoint signal along with the GPS location of the scanning vehicle. Thequality of the data collected is greatly affected by the scanningmethodology employed by the scanning vehicles. Each model has its ownbenefits and limitations. One approach, known as the Random Model,places scanning devices in vehicles as they are conducting dailyactivities for business or personal use. These vehicles could bedelivery trucks, taxi cabs, traveling salesman or just hobbyists. Theconcept is that over time these vehicles will cover enough streets intheir own random fashion in order to build a reliable referencedatabase. The model does in fact provide a simple means to collect databut the quality of the resulting data is negatively affected due toissues of “arterial bias”. FIG. 3 describes the challenge of the randommodel. When scanning vehicles traverse routes designed to solve otherproblems than gathering data (e.g. delivering packages, people commutingto and from work) they tend to follow destination routes. A destinationroute is when a driver needs to get from A to B and seeks the fastestroute to get there. So the driver looks for the shortest route to thenearest main artery whether it be a highway or a main thoroughfare. As aresult, over time the random driving covers more and more ground by thecumulative coverage shows a bias to the main roads, or arteries at theexpense of the smaller and surrounding roads. In FIG. 3, arteries [304]and [305] are heavily traversed by the scanning vehicles resulting in ahealthy amount of scanning data for those streets. But streets [306] and[307] are rarely, if ever, covered because there is no frequentdestination on those streets and the arteries are more optimal travelroads. The result is that access points [308] and [309] are not scannedat all by the scanning vehicles so the positioning system will struggleto identify a user who is traveling on streets [306] and [307]. Theresult is that when the system attempts to calculate the location of theaccess point from the scan data it is limited to a biased collection ofinput data. FIG. 11 shows the difference in resulting data quality. Asthe scanning vehicle drives near the Access Point [1101], it records areading and its location continuously. The positioning system must thencalculate the location of the Access Point [1102] using the entire setof observed data [1103]. In the Random Scanning model the set of data islimited to one main road passing by the access point. That forces thesystem to calculate the access point's location near that road ratherthan close to the access point itself.

Another approach is develop routing algorithms that include every singlestreet in the target area so as to avoid arterial bias in the resultingcollection of data thus producing a more reliable positioning system forthe end users. FIG. 4 describes an optimized routing algorithm known asthe Chinese Postman to calculate the most efficient driving route forcovering every single street in a target area. The Chinese Postmanrouting algorithm is a known technique used by postal agencies,utilities and census agencies and is a variant of the Eulerian cycleproblem. The Eulerian cycle is a problem asking for the shortest tour ofa graph which visits each edge at least once. (See, e.g., Kwan, M. K.“Graphic Programming Using Odd or Even Points.” Chinese Math. 1,273-277, 1962.) Preferred embodiments of the invention include amethodology for identifying a target region for coverage and then usingthe Chinese Postman routing algorithm for planning the vehicle route.The scanning vehicle [401] follows the optimal route according to thealgorithm showing no bias to any street ensuring that all observableaccess points are detected and mapped by the system. So, by way ofexample, access points [408] and [409] are added to the access pointdatabase using the Chinese Postman model but would have been missedusing the Random model. Referring back to FIG. 11, with the ChinesePostman Scanning model, the vehicle travels every single road getting ascomplete a set of scanning records [1106] for the Access Point [1104].The system can then calculate the location [1105] of the access pointwith less error since it has a more uniform distribution of scan datafor access point 1104 than for access 1102. So the Chinese PostmanScanning model not only gathers more access points uniformly across atarget area but the resulting data produces more accurate calculationsof access point locations.

Higher Quality AP Locations

Once collected (or partially collected), the scanning data is uploadedback to a central access point database (described later in thisapplication) where it is processed. The raw observation points for eachaccess point are used to reverse triangulate the actual physicallocation of the access points or create a power profile representing theradio propagation of that access point. In order to produce the mostaccurate calculated location for a particular access points or to createthe most accurate power profile, the scanning vehicle must observe theaccess point from as many different angles as possible. In the randommodel [FIG. 3], many access points are observed from only one streetforcing the system to calculate their location directly on the street[303]. These locations exhibit a directional bias and are significantlydifferent than the actual locations of these access points [302]. Errorsare introduced into a positioning system when its reference pointlocations are inaccurate. So in this positioning system, the accuracy ofthe access point locations play a large role in the accuracy of the enduser positioning accuracy. Using the Chinese Postman model [FIG. 4] thescanning vehicles detect a particular access point from as many sides aspossible of the building housing the access point. This additional datagreatly improves the results of the reverse triangulation formula usedto calculate the location of the access points [403]. More details onthe access point location quality is described in connection with FIG.11.

The scanning data collected from this system represents a reliable proxyfor the signal propagation pattern for each access point in its specificenvironment. Every radio device and associated surrounding environmentproduces a unique signal fingerprint showing how far the signal reachesand how strong the signal is in various locations within the signalfingerprint. This fingerprint data is used in conjunction with thecalculated access point location to drive high accuracy for thepositioning system. This fingerprint is also known as a “power profile”since the signal strengths at each position is measured as signal powerin watts. The positioning system can interpret the fingerprint data toindicate that a particular signal strength of an 802.11 access pointradio is associated with a particular distance from that access point.Signal fingerprinting techniques are used in indoor Wi-Fi positioningbut have proved difficult to replicate in the wider area outdoorenvironments because the difficulty associated with collecting thefingerprint data. When the fingerprints or power profiles of multipleaccess points are overlayed, the positioning system can determine adevice location merely by finding the one position where the observedsignal strengths match the combined fingerprints. Preferred embodimentsof this invention provide a reliable system for obtaining thisfingerprint data across a massive coverage area with millions of accesspoints in order to utilize fingerprint-based positioning algorithms.

Reference Symmetry

Positioning systems typically work by having three or more referencepoints around the device being tracked. These positioning systems usethe radio signals from these reference points in various ways tocalculate the device's current location. Significant errors occur whenthere are an insufficient number of reference points or when thereference points lack balance or symmetry around the user. Asillustrated in FIG. 5, the arterial bias that emerges from the randommodel introduces many scenarios where the end user [501] moves intophysical areas in which there are only recorded access point locations[502] on one side of them. This lack of symmetry in the distribution ofreference points around the end user causes the positioning algorithmsto calculate the device location [503] with a great deal of error. WithChinese Postman model of scanning for access points, the user typicallyencounters a physical location [FIG. 6] in which there are numerousaccess point locations [602] on all sides of the user [601] within therange [604] of the device's 802.11 radio. The resulting positioncalculation [603] has reduced location bias and is more accurate as aresult. FIG. 11 is another example showing the impact of qualitylocation calculations.

Scanning Device

FIG. 7 depicts the details of a preferred embodiment of a scanningdevice 702 used to detect and identify the various Wi-Fi access points.A scanning vehicle [701] contains a scanning device [702] thatcontinuously scans the airways for radio signals from GPS satellites[708] and 802.11 access points [707]. The scanning device runs thescanning client software [704] that controls the entire process. Thescanning client activates both the GPS receiver [705] and the 802.11radio [706]. The GPS receiver is set into a continuous reception modecalculating the geographic location of the device every second. Thatcalculation is read by the scanning client and stored in the local datastorage [703]. The scanning client initiates the 802.11 radio and beginssending out 802.11 probe requests using directional antennas [709]. Any802.11 access point [707] within range of that probe request respondswith a signal beacon as per the 802.11 protocol. The responding signalbeacons contains the network name of the access point (known as anSSID), the MAC address of the access point device as well as other metainformation about the access point. The responding signals reach each ofthe directional antennas with a different strength of signal based onthe vector of origin and the proximity of the access point. That vectoris recorded along with the identifier of that particular antenna and themeta information about the access point. This probe-receive-recordprocess occurs continuously every tenth of a second. The scanning devicedeployed is a combination of the iPAQ 4155 Pocket PC and Powered GPS PDAMount Cradle with integrated SiRF II type GPS receiver with XTrac v. 2.0firmware.

The Scanning Client 704 of certain embodiments is described inconnection with FIG. 10. The client consist of three main components,the Data Manager [1001], the System Manager [1002] and the UploadManager [1003]. The Data Manager [1001] controls the operations of boththe GPS radio [1006] and the 802.11 radio [1007]. The Data Managercontrols when and how often these radios scan for signals and processthose signals. The GPS radio once activated receives signals from GPSsatellites [1004] and calculates its geographic location. The GPSrecorder [1008] logs all of those readings every second and sends themto the File Manager [1010]. The Wi-Fi Recorder [1009] activates the802.11 Radio to scan every tenth of a second, and associates those802.11 readings with the GPS readings coming from the GPS radio andsends the resulting data to the File Manager. The File Manager receivesscan data from both the GPS Recorder and Wi-Fi Recorder and createsstorage files on the device. This process continues the entire time thedevice is operational and both radios are functioning

In the Upload Manager [1003] there is a Hotspot Detector [1017] thatmonitors the 802.11 scanning results to look for the configured networkof public hotspots [1024] (e.g. T-mobile) that the device is authorizedto access. Once it detects a valid Hotspot it notifies the user of itspresence. The user can select to connect to the hotspot by activatingthe Create Connection component [1018]. This component associates withthe hotspot's access point and creates an 802.11 connection. Then theHotspot Authentication module [1019] supplies valid authenticationinformation for the device. The hotspot validates the account and thenprovides network access to the device. The Upload Manager then initiatesthe Upload Server Authentication process [1020] to connect to theCentral Network Server [1025] and provides valid authenticationinformation. Once authenticated, the Upload & Data Verification module[1021] is initiated. This module retrieves the scan data from theScanning Data store [1011] and uploads the data to the Central NetworkServer using FTP. The Central Network Server initiates a process tostore all the data in the Central Access Point Database. After theupload is complete the upload process moves the scan data from theScanning Data store [1011] to the Backup Data store [1012] on thedevice. Once the upload is completed and verified, the New Versionmodule [1022] checks the Central Network Server to determine if there isa new version of the client software available for the device. If thereis a new version, the software is downloaded and the New VersionInstallation [1023] process begins to upgrade the client software. Oncethe installation process is completed the connection with the CentralNetwork Server is terminated, the connection with the hotspot isterminated and the device returns to normal scanning operation.

Included in the Scanning Client 704 are a set of utilities that help tomanage the device and reduce system errors. The Radio Manager [1013]monitors the operation of the GPS Radio and the Wi-Fi Radio to make surethey are functioning properly. If the Radio Manager encounters a problemwith one of the radios, it will restart the radio. The User InterfaceController [1014] presents the tools and updates to the user so they canoperate the device effectively. The Error Handling and Logging [1015]records all system issues to the device and alerts the user so they canaddress. The System Restart module [1016] is called when issues cannotbe resolved. This module shuts down the device and restarts thehardware, operating system and scanning client to ensure properoperation.

The 1/10 of a second 802.11 scanning interval was chosen since itprovides the optimal scanning period for 802.11 under these conditionsusing off the shelf hardware. 802.11b/g/n operates using 14 channels ofthe unlicensed spectrum. An individual access point broadcasts itssignal beacon over one of those channels at any given time. The scanningdevice needs to survey each channel in order to observe as many accesspoints as possible. The scanning interval is correlated with the averagespeed of the scanning vehicle to optimize how the scanning client coversthe frequency real estate of a particular region.

Central Network Server

With reference to FIG. 8, the fleet of vehicles perform their scanningroutines while driving their pre-designed routes. Periodically eachvehicle [801] will connect to an available 802.11 access point andauthenticate with the Data Communications Module [807] of the CentralNetwork Server. Typically the access points used for communicating withthe Central Network Server are public hotspots like those operated byT-Mobile ensuring reliable and metered access. The provisioning of thisconnection could be done via any available public access point. Thescanning vehicle stops at a nearby hotspot location and begins theprocess of connecting to the access point. Once authenticated, thescanning client [704] identifies all the recently collected scan datafrom the local storage [703] and uploads that data to the CentralNetwork Database [802].

Once the data has been uploaded to the database, the Parser and Filterprocess [803] begins. The Parser and Filter process reads all of theupload scanning data and loads it up into the appropriate tables of thedatabase. During this exercise the data is evaluated for quality issues.In some cases the GPS receiver may record erroneous or error records forsome period of time, which could negatively affect the final accesspoint location calculation. The parser and filter process identifiesthese bad records and either corrects them or removes them from thesystem. The filtering process users clustering techniques to weed outerror prone GPS readings. For example, if 90% of the readings are within200 meters of each other but the remaining 10% of the readings are 5kilometers away then those outliers are removed by the filter and storedin a corrupted table of the database for further analysis. Inparticular, the system first calculates the weighted centroid for theaccess point using all reported data. It then determines the standarddeviation based on the distribution of the reported locations. Thesystem uses a definable threshold based on the sigma of thisdistribution to filter out access points that are in error. Once theseerror records are marked, the centroid is recalculated with theremaining location records to determine the final centroid using theReverse Triangulation method described below.

Note that the error records may be the result of an access point thathas moved. In this instance, the centroid for the access points willquickly “snap” to the new location based on the preponderance ofrecords. An additional enhancement to the algorithm would include aweighting value based on the age of the records such that new recordsrepresent a more significant indication of the present location for agiven access point.

Once the parsing process has been completed the central network systeminitiates the Reverse Triangulation model [804] begins processing thenew data. During this process 1) new access points are added to thedatabase and their physical location is calculated and 2) existingaccess points are repositioned based on any new data recorded by thescanners. The reverse triangulation algorithm factors in the number ofrecords and their associated signal strengths to weight stronger signalreadings more than weaker signals with a quasi weighted average model.

During data gathering, a WPS user is equipped with a Wi-Fi receiverdevice which measures Received Signal Strength (RSS) from all theavailable Wi-Fi access points, and then extracts location information ofcorresponding access points. RSS value of access points are shown asfollows:

{RSS₁, RSS₂, . . . RSS_(n)}

If the corresponding recorded GPS location of access point i is denotedby {Lat_(i), Long_(i)}, and the calculated access point location isdenoted by {Lat_(i), Long_(i)}, the triangulated position is found byapplying the algorithm as follows:

${Lat}_{u} = \frac{\sum\limits_{i = 1}^{n}\;{\sqrt[4]{10^{{RSS}_{i}/10}}{Lat}_{i}}}{\sum\limits_{i = 1}^{n}\;\sqrt[4]{10^{{RSS}_{i}/10}}}$${Long}_{u} = \frac{\sum\limits_{i = 1}^{n}\;{\sqrt[4]{10^{{RSS}_{i}/10}}{Long}_{i}}}{\sum\limits_{i = 1}^{n}\;\sqrt[4]{10^{{RSS}_{i}/10}}}$

The quad root of power is selected to ease the implementation of thealgorithm, since quad root is synonymous to taking two square roots.

The second point is referring to adjusting the dynamic range ofcoefficients. If the dynamic range of coefficients is a concern, thecoefficient of the algorithm can be divided by a constant number, e.g.,

${Lat}_{u} = \frac{\sum\limits_{i = 1}^{n}\;{\frac{\sqrt[4]{10^{{RSS}_{i}/10}}}{C}{Lat}_{i}}}{\sum\limits_{i = 1}^{n}\;\frac{\sqrt[4]{10^{{RSS}_{i}/10}}}{C}}$${Long}_{u} = \frac{\sum\limits_{i = 1}^{n}\;{\frac{\sqrt[4]{10^{{RSS}_{i}/10}}}{C}{Long}_{i}}}{\sum\limits_{i = 1}^{n}\;\frac{\sqrt[4]{10^{{RSS}_{i}/10}}}{C}}$

The Parameter C can be any number and it does not impact the results,theoretically. Since, the weighted average is based on the ratio of thecoefficients and not the absolute value, theoretically, dividing all thecoefficients by a constant value, C, does not impact the results, but itchanges the dynamic range of the coefficient values.

This final {Lat_(i), Long_(i)} is then used as the final centroid valuefor the location of that access point. The latitude and longitude willthen be stored in the database including a timestamp to indicate thefreshness of the triangulation calculation.

After the Central Network Database has been updated and each accesspoint has been repositioned, the Data Pack Builder [805] creates subsetsof the database based on regions of the country or world. The packbuilder facilitates distribution of the database for a variety of usecases in which only region certain geographies are of interest. The packbuilder is configured with region coordinates representing countries,time zones and metropolitan areas. Utilizing this technique a user candownload just the location data for the west coast of the United States.The pack builder segments the data records and then compresses them.

The Fleet Management Module [806] helps operations personnel manage thescanning vehicles and ensure they are adhering the routing procedures.This module processes all the scan data and builds the location trackfor each vehicle in the system. The operations manager can create mapsof the vehicle track using the Map Builder [808] to visually inspect thecoverage for a particular region. The GPS tracking data from each deviceis reviewed with route mapping software to verify completion of coverageand to identify missed areas. This ability to audit and verify uniformcoverage ensures that the system is getting the best data possible. Themodule also calculates the driving time of the vehicle to determineaverage speed and to subtract any idle time. These outputs are used tomonitor efficiency of the overall system and in planning of futurecoverage.

It will be appreciated that the scope of the present invention is notlimited to the above described embodiments, but rather is defined by theappended claims; and that these claims will encompass modifications ofand improvements to what has been described.

What is claimed is:
 1. A database of identified wireless access pointsin at least one target area having a radius on the order of at leastmiles, said database comprising: a plurality of database recordsrecorded in a non-transitory computer-readable medium for substantiallyall of the identified wireless access points in the target area, eachdatabase record including for one of the identified wireless accesspoints, identification information, and access point positioninformation for the one of the identified wireless access pointscalculated from readings of the one of the identified wireless accesspoints from a plurality of observation points distributed around morethan one side of the one of the identified wireless access points toreduce negative effects of arterial bias in the access point positioninformation calculated therefrom.
 2. The database of claim 1 wherein theidentified wireless access points are Wi-Fi access points.
 3. Thedatabase of claim 1 wherein the identified wireless access pointsprovide reference symmetry relative to a user device.
 4. The database ofclaim 1 wherein the plurality of observation points distributed aroundthe one of the identified wireless access points provide readingsscanned from at least three observation points at different anglesaround the one of the identified wireless access points.
 5. The databaseof claim 1 wherein the plurality of observation points distributedaround the one of the identified wireless access points provide readingsfrom substantially all drivable streets in the target area.
 6. Thedatabase of claim 5 wherein the identified wireless access pointsprovide reference symmetry relative to a user device.
 7. The database ofclaim 1 wherein the readings of the one of the identified wirelessaccess points have been taken from one or more predetermined routes ondrivable streets in the target area to distribute the observation pointsaround the one of the identified wireless access points.
 8. The databaseof claim 1 wherein the readings of the one of the identified wirelessaccess points have been taken from one or more non-random routes ondrivable streets in the target area to distribute the observation pointsaround the one of the identified wireless access points.
 9. The databaseof claim 1 wherein the readings of the one of the identified wirelessaccess points have been taken from one or more routes determined by arouting algorithm used to distribute the observation points around theone of the identified wireless access points.
 10. The database of claim9 wherein the routing algorithm is a solution to a Eulerian cycleproblem.
 11. The database of claim 10 wherein the routing algorithm isan instance of a Chinese Postman routing algorithm.
 12. The database ofclaim 1 wherein access point position information for the one of theidentified wireless access points is calculated from readings of the oneof the identified wireless access points from a plurality of observationpoints distributed at a plurality of angles to the one of the identifiedwireless access points to reduce negative effects of arterial bias inthe access point position information calculated therefrom.
 13. Thedatabase of claim 12 wherein access point position information for theone of the identified wireless access points is calculated from readingsof the plurality of observation points distributed at as many angles tothe one of the wireless access points as possible by scanning readingsfrom substantially all drivable streets in the target area.
 14. Thedatabase of claim 1 wherein the readings have been reviewed to verifyuniform coverage around the one of the identified wireless access pointsto avoid arterial bias in the access point position information.
 15. Thedatabase of claim 1 wherein the Wi-Fi access points operate according toan 802.11 standard.
 16. A database of WI-FI access points for at leastone target area having a radius on the order of at least miles, saiddatabase being recorded in a non-transitory computer-readable medium andincluding database records for substantially all of the identified WI-FIaccess points in the target area, each database record comprising:identification information for a corresponding WI-FI access point; andcalculated position information for the corresponding WI-FI accesspoint, wherein said calculated position information is obtained fromrecording multiple readings of the WI-FI access point from a pluralityof observation locations when calculating the position of the WI-FIaccess point in order to reduce arterial bias in the calculated positioninformation.
 17. A server comprising: a data communications moduleincluding hardware configured to receive scanning data for a pluralityof identified wireless access points in a target area, the target areaincluding area within a radius of at least miles, and a databaseconfigured to store a plurality of database records based on thescanning data, the database records including for each one of theidentified wireless access points, identification information for theone of the identified wireless access points, and access point positioninformation for the one of the identified wireless access pointscalculated from readings for the one of the identified wireless accesspoints from a plurality of observation points distributed around morethan one side of the one of the identified wireless access points toreduce negative effects of arterial bias in the access point positioninformation.
 18. The server of claim 17 wherein the identified wirelessaccess points are Wi-Fi access points.
 19. The server of claim 17wherein the identified wireless access points provide reference symmetryrelative to a user device.
 20. The server of claim 17 wherein theplurality of observation points distributed around the one of theidentified wireless access points provide readings from drivable streetsin the target area.
 21. The server of claim 17 wherein the plurality ofobservation points distributed around the one of the identified wirelessaccess points are along one or more predetermined routes on drivablestreets in the target area.
 22. The server of claim 17 wherein theplurality of observation points distributed around the one of theidentified wireless access points are along one or more routesdetermined by a routing algorithm, wherein the routing algorithm is asolution to a Eulerian cycle problem.
 23. A method comprising:receiving, at a server, scanning data for a plurality of identifiedwireless access points in a target area, the target area including areawithin a radius of at least miles; calculating, by the server, aposition for each of the plurality of identified wireless access pointsin the target area based on the scanning data, the calculating toutilize for each one of the identified wireless access points readingsfor the one of the identified wireless access points from a plurality ofobservation points distributed around more than one side of the one ofthe identified wireless access points to reduce negative effects ofarterial bias; and storing, in a database, a plurality of databaserecords for the plurality of identified wireless access points in thetarget area, the database records including identification informationand access point position information for the identified wireless accesspoints based on the calculating.
 24. The method of claim 23 wherein theidentified wireless access points are Wi-Fi access points.
 25. Themethod of claim 24 wherein the Wi-Fi access points operate according toan 802.11 standard.
 26. The method of claim 23 wherein the identifiedwireless access points provide reference symmetry relative to a userdevice.
 27. The system of claim 23 wherein the plurality of observationpoints distributed around the one of the identified wireless accesspoints provide readings from drivable streets in the target area. 28.The system of claim 23 wherein the plurality of observation pointsdistributed around the one of the identified wireless access points arealong one or more predetermined routes on drivable streets in the targetarea.
 29. The system of claim 23 wherein the plurality of observationpoints distributed around the one of the identified wireless accesspoints are along one or more routes determined by a routing algorithm,wherein the routing algorithm is a solution to a Eulerian cycle problem.